Diff: MPU9250.h

Revision:

5:dbb770470110

Parent:

3:bf624b3ae5b9

--- a/MPU9250.h	Wed Oct 24 13:05:04 2018 +0000
+++ b/MPU9250.h	Wed Oct 24 14:56:25 2018 +0000
@@ -213,7 +213,7 @@
 // parameters for 6 DoF sensor fusion calculations
 float PI = 3.14159265358979323846f;
 float GyroMeasError = PI * (60.0f / 180.0f);     // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
-float beta = sqrt(3.0f / 4.0f) * GyroMeasError;  // compute beta
+float beta = sqrt(1.0f / 4.0f) * GyroMeasError;  // compute beta
 float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
 float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
 #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral